{"id":"https://openalex.org/W7123363404","doi":"https://doi.org/10.1109/tro.2026.3651680","title":"Augmented Tank-Based Control Guarantees Passive Individual Interaction Environment for Multiuser Haptic-Enabled Robotic Systems","display_name":"Augmented Tank-Based Control Guarantees Passive Individual Interaction Environment for Multiuser Haptic-Enabled Robotic Systems","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7123363404","doi":"https://doi.org/10.1109/tro.2026.3651680"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2026.3651680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3651680","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5122903751","display_name":"Cui Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cui Wang","raw_affiliation_strings":["Department of Biomedical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-2589-6870","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089934217","display_name":"Yudong Liu","orcid":"https://orcid.org/0000-0002-1816-1000"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yudong Liu","raw_affiliation_strings":["Shenzhen Key Laboratory of Smart Healthcare Engineering, Department of Biomedical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-1816-1000","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Smart Healthcare Engineering, Department of Biomedical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031972750","display_name":"Chenyang Sun","orcid":"https://orcid.org/0000-0002-4673-8655"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyang Sun","raw_affiliation_strings":["Shenzhen Key Laboratory of Smart Healthcare Engineering, Department of Biomedical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-4673-8655","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Smart Healthcare Engineering, Department of Biomedical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122860327","display_name":"Ping Li","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Li","raw_affiliation_strings":["School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-6977-538X","affiliations":[{"raw_affiliation_string":"School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yi-Feng Chen","orcid":"https://orcid.org/0000-0002-2709-6036"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi-Feng Chen","raw_affiliation_strings":["Shenzhen Key Laboratory of Smart Healthcare Engineering, Department of Biomedical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-2709-6036","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Smart Healthcare Engineering, Department of Biomedical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121816610","display_name":"Mingjie Dong","orcid":null},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingjie Dong","raw_affiliation_strings":["College of Mechanical and Energy Engineering, Beijing University of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5303-3899","affiliations":[{"raw_affiliation_string":"College of Mechanical and Energy Engineering, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122853643","display_name":"Zhenhong Li","orcid":null},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhenhong Li","raw_affiliation_strings":["School of Engineering, University of Manchester, Manchester, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2583-5082","affiliations":[{"raw_affiliation_string":"School of Engineering, University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122892543","display_name":"Lu Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Lu Liu","raw_affiliation_strings":["Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0003-2741-2542","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5122895947","display_name":"Mingming Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingming Zhang","raw_affiliation_strings":["Shenzhen Key Laboratory of Smart Healthcare Engineering, Department of Biomedical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8016-1856","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Smart Healthcare Engineering, Department of Biomedical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03854834,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":null,"first_page":"693","last_page":"712"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.965499997138977,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.965499997138977,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.019999999552965164,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.002300000051036477,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.8034999966621399},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.774399995803833},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.7494000196456909},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5049999952316284},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4903999865055084},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.484499990940094},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4837000072002411},{"id":"https://openalex.org/keywords/supervisory-control","display_name":"Supervisory control","score":0.3440000116825104}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8034999966621399},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.774399995803833},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.7494000196456909},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6283000111579895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5049999952316284},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4903999865055084},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.484499990940094},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4837000072002411},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40619999170303345},{"id":"https://openalex.org/C92991967","wikidata":"https://www.wikidata.org/wiki/Q7644329","display_name":"Supervisory control","level":3,"score":0.3440000116825104},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3425999879837036},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3422999978065491},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.33219999074935913},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.32440000772476196},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.32260000705718994},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.32249999046325684},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.31949999928474426},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.31869998574256897},{"id":"https://openalex.org/C56685638","wikidata":"https://www.wikidata.org/wiki/Q2300474","display_name":"Power control","level":3,"score":0.2721000015735626}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2026.3651680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3651680","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1744962815","display_name":null,"funder_award_id":"62222318","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5652028472","display_name":null,"funder_award_id":"62373010,","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7274290856","display_name":null,"funder_award_id":"62273173","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1601087573","https://openalex.org/W1969993920","https://openalex.org/W1979936342","https://openalex.org/W1989113151","https://openalex.org/W2003137624","https://openalex.org/W2015366391","https://openalex.org/W2023080842","https://openalex.org/W2045020419","https://openalex.org/W2071935905","https://openalex.org/W2078480008","https://openalex.org/W2081731410","https://openalex.org/W2086635528","https://openalex.org/W2096488507","https://openalex.org/W2100319473","https://openalex.org/W2112904796","https://openalex.org/W2125051330","https://openalex.org/W2208152891","https://openalex.org/W2514498086","https://openalex.org/W2560296492","https://openalex.org/W2564855576","https://openalex.org/W2604635497","https://openalex.org/W2714779928","https://openalex.org/W2885923137","https://openalex.org/W2939037429","https://openalex.org/W2982429175","https://openalex.org/W2986127088","https://openalex.org/W2986851775","https://openalex.org/W2997161337","https://openalex.org/W3131110707","https://openalex.org/W3133707060","https://openalex.org/W3175786126","https://openalex.org/W4205241083","https://openalex.org/W4206696957","https://openalex.org/W4285040080","https://openalex.org/W4285253840","https://openalex.org/W4285283404","https://openalex.org/W4293812024","https://openalex.org/W4385521833","https://openalex.org/W4387934962","https://openalex.org/W4399938938","https://openalex.org/W4400966525","https://openalex.org/W4404520512","https://openalex.org/W4405520994","https://openalex.org/W4410950131"],"related_works":[],"abstract_inverted_index":{"Despite":[0],"extensive":[1],"investigations":[2],"into":[3],"the":[4,15,30,40,58,65,70,80,85,91,121,140,151,181],"multi-user":[5],"haptic-enabled":[6],"robotic":[7],"system":[8],"(M-Hers),":[9],"achieving":[10,192],"scalable":[11],"control":[12,72,136],"design":[13,73],"in":[14,52,166,180],"presence":[16,182],"of":[17,33,42,87,143,163,183],"non-passive":[18],"human":[19,185],"operators":[20,43],"remains":[21],"a":[22,105,134,159,193],"key":[23],"challenge.":[24],"This":[25],"is":[26],"primarily":[27],"due":[28],"to":[29,63,84,111,129,138],"increasing":[31],"complexity":[32],"stability":[34],"conditions":[35],"and":[36,103,133,191,198],"interaction":[37,60,131],"coupling":[38],"as":[39],"number":[41,86],"grows.":[44],"In":[45],"this":[46,50],"study,":[47],"we":[48,56,94],"address":[49],"challenge":[51],"two":[53],"steps.":[54],"First,":[55],"introduce":[57],"individual":[59],"environment":[61],"(IIE)":[62],"isolate":[64],"passivity":[66,179,197],"violations,":[67],"which":[68],"facilitates":[69],"independent":[71],"for":[74],"each":[75],"human-robot":[76],"subsystem,":[77],"thereby":[78],"enhancing":[79],"scalability":[81],"with":[82],"respect":[83],"subsystems.":[88],"Second,":[89],"within":[90],"IIE":[92,114,178],"framework,":[93],"identify":[95],"passivity-violating":[96],"components":[97],"caused":[98],"by":[99],"partners'":[100],"active":[101,184],"behaviors":[102],"propose":[104],"novel":[106],"augmented":[107],"tank-based":[108],"controller":[109],"(ATBC)":[110],"guarantee":[112],"passive":[113],"while":[115,187],"maintaining":[116],"high":[117,189],"rendering":[118,147,199],"accuracy.":[119,200],"Specifically,":[120],"ATBC":[122],"employs":[123],"an":[124],"energy-related":[125],"power":[126,144],"regulation":[127,145],"strategy":[128],"enhance":[130],"safety":[132],"time-varying":[135],"gain":[137],"mitigate":[139],"negative":[141],"effects":[142],"on":[146,158],"fidelity.":[148],"We":[149],"validated":[150],"proposed":[152],"method":[153],"through":[154],"collaborative":[155],"haptic":[156],"tasks":[157],"customized":[160],"M-Hers":[161],"composed":[162],"three":[164],"robots":[165],"four":[167],"different":[168],"scenarios.":[169],"Comparative":[170],"studies":[171],"demonstrate":[172],"that":[173],"our":[174],"approach":[175],"effectively":[176],"ensures":[177],"behaviors,":[186],"ensuring":[188],"reproducibility":[190],"favorable":[194],"balance":[195],"between":[196]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2026-01-14T00:00:00"}